基于SimReal平台的六轴机器人建模与运动学仿真

Modeling and Kinematics Simulation of Six-Axis Robot Based on SimReal Platform

摘要: 为了应对传统工业机器人物理样机制作费用较高、运动学验证耗时较长、不能有效预防奇异点以及碰撞等问题，在SimReal智能制造虚拟仿真环境下，选择六轴串联工业机器人为案例，提出一种“从CAD导入到坐标系标定再到模板匹配最后到标定参数”的全流程数字化建模方法。利用正/逆运动学求解、可到达范围检查、运动平滑度评估等多种方式实现虚拟与实际机械手臂动作的一致性；利用该软件的数据采集功能对关节的速度、时间响应以及路径的一致性等进行分析从而完成运动节拍优化及减震。从实验结果可以看出，所建立虚拟模型运动传递误差明显减小，异常抖动以及动态偏移现象得到缓解，关节动作与实物基本相同，在没有实物情况下可以对机器人本体进行提前测试以及路径规划等，有利于工业机器人教学实验，路径设计以及实际应用。

Abstract: To address the engineering challenges faced by traditional industrial robots, such as high manufacturing costs of physical prototypes, long cycle times for kinematics verification, and the inability to effectively prevent singular points and collision risks, this paper selects a six-axis serial industrial robot as the research case and proposes a full-process digital modeling method based on the SimReal intelligent manufacturing virtual simulation platform. The method follows the workflow of “CAD import—coordinate system calibration—template matching—parameter calibration”. Multi-dimensional verifications, including forward/inverse kinematics solution, reachable workspace analysis, and motion smoothness evaluation, are conducted to achieve high-precision motion consistency between the virtual model and the physical manipulator. Combined with the platform’s data acquisition module, key indicators such as joint velocity, time-series response, and trajectory repeatability are quantitatively analyzed to complete motion cycle optimization and impact suppression. The experimental results show that the motion transmission error of the constructed virtual model is significantly reduced, abnormal jitter and dynamic offset are effectively mitigated, and the joint response characteristics are highly consistent with the physical robot. The proposed method enables pre-verification and trajectory optimization of the robot body without a physical prototype, providing strong support for industrial robot teaching experiments, trajectory planning, and engineering applications.